四轴源码以及原理图

代码说明：

小四轴的源码以及原理图    #include "led.h"#include "delay.h"#include "sys.h"#include "key.h"#include "usart.h"#include "exti.h"#include "wdg.h"#include "timer.h"#include "pwm.h"#include "lcd.h"#include "MPU6050.h"#include "lsm330.h"u8 SPI1_Buffer_Rx1[6]="432423";s16 SPI1_Buffer_Rx[30];u8  k = 0;void SPI_Configuration(){ SPI_InitTypeDef   SPI_InitStructure;   /* SPI1 Config -------------------------------------------------------------*/  SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;  SPI_InitStructure.SPI_Mode = SPI_Mode_Master;  SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;  SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;  SPI_